ziegler.m

用MATLAB的脚本语言M语言编写的

function [Gc,Kp,Ti,Td,H]=ziegler(key,vars)
Ti=[]; Td=[]; 
if length(vars)==4, 
   K=vars(1); L=vars(2); 
   T=vars(3); N=vars(4); a=K*L/T; 
   if key==1,  Kp=1/a; 
   elseif key==2, Kp=0.9/a; Ti=3.33*L; 
   elseif key==3 | key==4
      Kp=1.2/a; Ti=2*L; Td=L/2; 
   end
elseif length(vars)==3, 
   K=vars(1); Tc=vars(2); N=vars(3);
   if key==1, Kp=0.5*K; 
   elseif key==2, Kp=0.4*K; Ti=0.8*Tc; 
   elseif key==3 | key==4
      Kp=0.6*K; Ti=0.5*Tc; Td=0.12*Tc; 
   end
elseif length(vars)==5, 
   K=vars(1); Tc=vars(2); rb=vars(3); N=vars(5); 
   pb=pi*vars(4)/180; Kp=K*rb*cos(pb); 
   if key==2, Ti=-Tc/(2*pi*tan(pb)); 
   elseif key==3 | key==4
      Ti=Tc*(1+sin(pb))/(pi*cos(pb)); Td=Ti/4;
   end
end
[Gc,H]=writepid(Kp,Ti,Td,N,key);